Adaptive MPC

[caxelrud]

Is it possible to adapt (modify parameter before an execution) the linear controller model?

[franckgaga]

No it is not possible right now. But I'm planning to add this feature. Are you interested in modifying:

1. the plant model,
2. the weights in the objective function, or
3. both ?

Since I'm currently using immutable struct, the number of states and the model augmentation of the new plant model would need to be identical to the old one. Would it be too restrictive ?

[caxelrud]

Adapting the plant model and tuning (weights in the obj. function) will be great.
It is quite practical to do adaptation and keep the model order the same (number of states).
This last comment should be valid for other features as added integral action, etc.

[franckgaga]

Alright I will work on that feature for the next release.

[franckgaga]

Adaptive MPC is added in the new version: https://discourse.julialang.org/t/ann-modelpredictivecontrol-jl/100147/27?u=franckgaga
The modification of the weights will be added soon.
Thanks for the constructive comment!

[franckgaga]

I added the support for online weights and covariances modification. It should cover all the points here.